version: 66.03
glider: 17
mission: 4
dive: 70
start: 10 25 107 14 11 12
data:
$ID,17
$MISSION,4
$DIVE,70
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0281
$MASS,51832
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-79567.297
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,2526
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,153
$ROLL_MAX,3868
$ROLL_DEG,40
$C_ROLL_DIVE,2010
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.21290922
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,140837,4808.029,-12223.937,26,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-52.6
$GPS2,141021,4808.016,-12223.921,22,1.1,22,18.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.043,-0.235
$KALMAN_X,-19666.2,-385.7,-288.0,19888.8,-381.4
$KALMAN_Y,4861.6,160.9,726.4,-4619.0,643.4
$MHEAD_RNG_PITCHd_Wd,151.6,14439536,-20.0,-10.000
$D_GRID,100
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.39,-121.6,0.0,0.0,0,110,0.00,0.00,-90.05,0.000,2,0.000,0.000,62,2008,2363
$GC,112,-1.39,-121.6,3.1,-5.4,13,212,9.70,2.72,-77.57,0.000,4,0.027,0.058,2227,3403,2996
$GC,365,-1.39,-121.6,34.7,-12.1,44,374,0.00,2.47,0.00,0.000,6,0.000,0.024,2228,2010,2996
$GC,437,-1.39,-121.6,41.9,-10.5,51,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2009,2996
$GC,565,-1.39,-121.6,55.3,-10.5,63,569,0.00,2.65,0.00,0.000,4,0.000,0.041,2228,3405,2996
$GC,605,-1.39,-121.6,60.0,-10.9,66,615,0.00,2.47,0.00,0.000,6,0.000,0.023,2228,2013,2996
$GC,741,-1.39,-121.6,74.5,-11.0,79,745,0.00,2.58,0.00,0.000,4,0.000,0.042,2228,616,2996
$STATE,990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,990,begin apogee
$GC,996,-0.31,0.0,100.5,9.1,102,1055,1.02,0.00,53.28,0.555,6,0.037,0.000,2460,2009,2500
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1057,1.39,121.6,107.2,0.0,108,1119,1.65,2.67,53.10,0.541,4,0.040,0.047,2828,3405,2004
$GC,1360,1.39,121.6,88.6,12.2,135,1370,0.00,2.47,0.00,0.000,6,0.000,0.023,2828,2010,2004
$GC,1496,1.39,121.6,72.0,12.6,148,1500,0.00,2.58,0.00,0.000,4,0.000,0.041,2828,617,2004
$GC,1665,1.39,121.6,51.2,12.4,163,1670,0.00,2.53,0.00,0.000,6,0.000,0.024,2829,2015,2004
$GC,1800,1.39,121.6,34.3,12.0,175,1804,0.00,2.67,0.00,0.000,4,0.000,0.048,2829,3407,2004
$GC,2040,1.40,136.8,7.2,9.2,208,2055,0.00,2.47,6.53,0.452,6,0.000,0.024,2828,2013,1942
$STATE,2097,end climb,SURFACE_DEPTH_REACHED
$STATE,2097,begin surface coast
$FINISH,-0.0,0.998605
$STATE,2120,end surface coast,CONTROL_FINISHED_OK
$STATE,2120,begin surface
$SM_CCo,2139,106.57,0.558,0,0,971,375.06
$SM_GC,-0.00,0.00,0.00,106.57,0.000,0.000,0.558,58,2013,971,-11.35,0.08,375.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,2034
$INTERNAL_PRESSURE,13.3013
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,9.7,0.0
$ALTIM_BOTTOM_PING,75.0,0.0
$24V_AH,23.7,0.045
$10V_AH,9.8,0.026
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6470,222
$CFSIZE,252424192,249507840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,251007,144926,4807.788,-12223.834,18,1.1,19,18.0